| author | Florian Pose <fp@igh-essen.com> |
| Wed, 23 Jul 2008 16:16:30 +0000 | |
| changeset 1137 | a73c0f54be42 |
| parent 1130 | bb1c11adb2db |
| permissions | -rw-r--r-- |
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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****************************************************************************/ |
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#include <iostream> |
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#include <iomanip> |
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using namespace std; |
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#include "globals.h" |
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/****************************************************************************/ |
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const char *help_pdos = |
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"[OPTIONS]\n" |
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"\n" |
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"Displays sync managers, assigned Pdos and mapped Pdo entries.\n" |
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"\n" |
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"The information is displayed in three layers, which are indented\n" |
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"accordingly:\n" |
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"\n" |
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"1) Sync managers - Contains the sync manager information from the\n" |
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" SII: Index, physical start address, default size (raw value from\n" |
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" the SII), control register and enable word. Example:\n" |
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"\n" |
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" SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, Enable 1\n" |
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"\n" |
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"2) Assigned Pdos - Pdo direction, hexadecimal index and -if available-\n" |
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" the Pdo name. Example:\n" |
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"\n" |
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" TxPdo 0x1a00 \"Channel1\"\n" |
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"\n" |
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"3) Mapped Pdo entries - Pdo entry index and subindex (both\n" |
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" hexadecimal), the length in bit and -if available- the\n" |
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" description. Example:\n" |
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"\n" |
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" Pdo entry 0x3101:01, 8 bit, \"Status\"\n" |
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"\n" |
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"Note, that the displayed Pdo assignment and Pdo mapping information\n" |
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"can either originate from the SII or from the CoE communication area.\n" |
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"\n" |
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"Command-specific options:\n" |
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" --slave -s <index> Positive numerical ring position, or 'all' for\n" |
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" all slaves (default).\n" |
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"\n" |
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"Numerical values can be specified either with decimal (no prefix),\n" |
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"octal (prefix '0') or hexadecimal (prefix '0x') base.\n"; |
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/****************************************************************************/ |
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void listSlavePdos(uint16_t, bool); |
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/****************************************************************************/ |
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void command_pdos(void) |
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{
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masterDev.open(MasterDevice::Read); |
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if (slavePosition == -1) {
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unsigned int numSlaves = masterDev.slaveCount(), i; |
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for (i = 0; i < numSlaves; i++) {
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listSlavePdos(i, true); |
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} |
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} else {
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listSlavePdos(slavePosition, false); |
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} |
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} |
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/****************************************************************************/ |
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void listSlavePdos(uint16_t slavePosition, bool withHeader) |
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{
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ec_ioctl_slave_t slave; |
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ec_ioctl_slave_sync_t sync; |
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ec_ioctl_slave_sync_pdo_t pdo; |
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ec_ioctl_slave_sync_pdo_entry_t entry; |
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unsigned int i, j, k; |
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masterDev.getSlave(&slave, slavePosition); |
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if (withHeader) |
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cout << "=== Slave " << slavePosition << " ===" << endl; |
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for (i = 0; i < slave.sync_count; i++) {
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masterDev.getSync(&sync, slavePosition, i); |
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cout << "SM" << i << ":" |
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<< " PhysAddr 0x" |
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<< hex << setfill('0')
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<< setw(4) << sync.physical_start_address |
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<< ", DefaultSize " |
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<< dec << setfill(' ') << setw(4) << sync.default_size
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<< ", ControlRegister 0x" |
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<< hex << setfill('0') << setw(2)
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<< (unsigned int) sync.control_register |
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<< ", Enable " << dec << (unsigned int) sync.enable |
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<< endl; |
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100 |
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for (j = 0; j < sync.pdo_count; j++) {
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masterDev.getPdo(&pdo, slavePosition, i, j); |
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103 |
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cout << " " << (sync.control_register & 0x04 ? "R" : "T") |
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<< "xPdo 0x" |
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106 |
<< hex << setfill('0')
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<< setw(4) << pdo.index |
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<< " \"" << pdo.name << "\"" << endl; |
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109 |
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110 |
if (verbosity == Quiet) |
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111 |
continue; |
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112 |
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113 |
for (k = 0; k < pdo.entry_count; k++) {
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114 |
masterDev.getPdoEntry(&entry, slavePosition, i, j, k); |
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115 |
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116 |
cout << " Pdo entry 0x" |
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117 |
<< hex << setfill('0')
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118 |
<< setw(4) << entry.index |
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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119 |
<< ":" << setw(2) << (unsigned int) entry.subindex |
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parents:
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120 |
<< ", " << dec << (unsigned int) entry.bit_length |
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parents:
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121 |
<< " bit, \"" << entry.name << "\"" << endl; |
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Florian Pose <fp@igh-essen.com>
parents:
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122 |
} |
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123 |
} |
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parents:
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|
124 |
} |
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parents:
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125 |
} |
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parents:
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changeset
|
126 |
|
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parents:
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changeset
|
127 |
/*****************************************************************************/ |